Design Of Power Assist Crane System And Anti-Swing Control

As a kind of hoisting machinery,the bridge type power-assisted crane has simple layout and sensitive operation.It is widely used in material transfer and component assembly in modern industry.With the development of logistics automation,higher and higher requirements are put forward on the operating efficiency and system performance of operators.Since the bridge-type booster crane and the load are connected by a flexible rope,if the drive mechanism performs variable speed operation or the load is subjected to external forces,the load is prone to swing,which affects the work efficiency of the booster crane,and even leads to major safety accidents.Therefore,the most basic and most critical goal of the bridge-type power-assisted crane is load positioning and load swing elimination.The bridge power-assisted crane system is a typical nonlinear control system,which has the characteristics of under-driving,strong coupling,and uncertainty.In addition,the interaction between the power-assisted crane and the operator is not intuitive and convenient,and is prone to misoperation.In view of the above-mentioned problems,the bridge-type power-assisted crane has been studied.Use Euler-Lagrangian equations to establish a mathematical model of the powerassisted crane.According to the actual working method of the power-assisted crane,the motion of the power-assisted crane is divided into two parts,vertical and horizontal.As the mathematical model is more complex,the mathematical model needs to be simplified and integrated.Partial feedback linearization.Secondly,the trajectory of the load is an elliptic curve,and an elliptic curve equation is established to correct the parameters in the model.In order to complete the horizontal positioning and anti-sway of the load,an alternative function is constructed based on the expression of the energy function,the control algorithm is designed using the Lyapunov direct method,and the gradual stability of the control algorithm at the horizontal target position is verified.In order to reduce the complexity of the algorithm and reduce the external parameters that the algorithm relies on,a coupling control signal is defined and the candidate function is reconstructed.According to the control requirements,design the position tracking controller and the speed tracking controller.In order to satisfy the follow-up control of the load in the vertical direction,a micromanipulation force control scheme based on a force sensor is adopted,and the mapping relationship between the operating force and the motor speed is determined.In order to ensure the steady progress of the lifting movement,the median value averaging method is selected to filter the force signal,and the communication data packet format is designed according to the data transmission requirements.Combining the operation methods studied at home and abroad,a human-computer interaction method combining gesture detection and micro-manipulation control is designed.Finally,an experimental platform is built to verify the designed control algorithm and interaction method..